R2D2 Programming
 

I have a problem with some coding.
I need to add Remote functions to my coding to override my Ultras and being a NEWBIE, I can't get it right. I'm using Vex 2.0 and heres what I have so far:

#include "Main.h"

void main ( void )
{
int Loop = 1;
int UltraLeft;
int BumperLeft;
int BumperFront;
int UltraRight;
int BumperRight;
int UltraFront;

// Ultras will be mounted in the Legs (1 Left/1 Right)
// Remote must Override Ultras/Bumper Switches
// Inside Dome are 3- Bumpers (Front-Left-Right)
while ( Loop == 1 ) // When Power is Turned on, This will set Dome to Home Position
{
BumperFront = GetDigitalInput ( 11 ) ;
SetMotor ( 1 , 255 ) ;
if ( BumperFront == 0 )
{
SetMotor ( 1 , 127 ) ;
break ; // At this Point, It will leave this area of Code until Total Vex Restart
}
}
Wait ( 4000 ) ; // Sits in Home Position before Activating Ultras
while ( Loop == 1 )
{
BumperFront = GetDigitalInput ( 11 ) ; // Home Position Bumper Switch (Dome facing Foward)
if ( BumperFront == 0 )
{
SetMotor ( 1 , 127 ) ; // Had to add a Stop here for the return of the dome to stop
StartUltrasonic ( 1 , 6 ) ; // Left Ultra for dome Rotation (Left)
UltraLeft = GetUltrasonic ( 1 , 6 ) ; // Detects if someone is near Leftside
StartUltrasonic ( 2 , 7 ) ; // Right Ultra for Dome movement
UltraRight = GetUltrasonic ( 2 , 7 ) ; // Detects if Someone is near the Rightside
if ( UltraLeft < 35 )
{
SetMotor ( 1 , 255 ) ; // Turns Dome to the Left
}
if ( UltraRight < 35 )
{
SetMotor ( 1 , 0 ) ;
}
}
BumperLeft = GetDigitalInput ( 10 ) ; // Left Bumper Stop Switch
if ( BumperLeft == 0 )
{
SetMotor ( 1 , 127 ) ;
Wait ( 3000 ) ; // Dome will pause then Return to Home Position
SetMotor ( 1 , 0 ) ;
}
BumperRight = GetDigitalInput ( 12 ) ;
if ( BumperRight == 0 )
{
SetMotor ( 1 , 127 ) ;
Wait ( 3000 ) ; // Same as above
SetMotor ( 1 , 255 ) ;
}
// Perfect up to here, But the Ultras are not pausing
}
}